Added 2 examples; Spatial Location Calc with multiple ROIs, and an example that queries device information

Author: themarpe

examples/CMakeLists.txt

@@ -233,6 +233,7 @@ dai_add_example(feature_tracker FeatureTracker/feature_tracker.cpp ON)
 dai_add_example(device_queue_event host_side/device_queue_event.cpp ON)
 dai_add_example(opencv_support host_side/opencv_support.cpp ON)
 dai_add_example(queue_add_callback host_side/queue_add_callback.cpp ON)
+dai_add_example(device_information host_side/device_information.cpp ON)
 
 # ImageManip
 dai_add_example(image_manip ImageManip/image_manip_example.cpp ON)
@@ -312,6 +313,7 @@ dai_add_example(spatial_mobilenet_mono SpatialDetection/spatial_mobilenet_mono.c
 dai_add_example(spatial_mobilenet SpatialDetection/spatial_mobilenet.cpp ON)
 dai_add_example(spatial_tiny_yolo_v3 SpatialDetection/spatial_tiny_yolo.cpp ON)
 dai_add_example(spatial_tiny_yolo_v4 SpatialDetection/spatial_tiny_yolo.cpp ON)
+dai_add_example(spatial_calculator_multi_roi SpatialDetection/spatial_calculator_multi_roi.cpp ON)
 
 target_compile_definitions(spatial_mobilenet_mono PRIVATE BLOB_PATH="${mobilenet_blob}")
 target_compile_definitions(spatial_mobilenet PRIVATE BLOB_PATH="${mobilenet_blob}")

examples/SpatialDetection/spatial_calculator_multi_roi.cpp

@@ -0,0 +1,110 @@
+#include <iostream>
+
+#include "utility.hpp"
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+static constexpr float stepSize = 0.05f;
+
+static std::atomic<bool> newConfig{false};
+
+int main() {
+    using namespace std;
+
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    // Define sources and outputs
+    auto monoLeft = pipeline.create<dai::node::MonoCamera>();
+    auto monoRight = pipeline.create<dai::node::MonoCamera>();
+    auto stereo = pipeline.create<dai::node::StereoDepth>();
+    auto spatialLocationCalculator = pipeline.create<dai::node::SpatialLocationCalculator>();
+
+    auto xoutDepth = pipeline.create<dai::node::XLinkOut>();
+    auto xoutSpatialData = pipeline.create<dai::node::XLinkOut>();
+    auto xinSpatialCalcConfig = pipeline.create<dai::node::XLinkIn>();
+
+    xoutDepth->setStreamName("depth");
+    xoutSpatialData->setStreamName("spatialData");
+    xinSpatialCalcConfig->setStreamName("spatialCalcConfig");
+
+    // Properties
+    monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
+    monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT);
+    monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
+    monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT);
+
+    stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
+    stereo->setLeftRightCheck(true);
+    stereo->setExtendedDisparity(true);
+    spatialLocationCalculator->inputConfig.setWaitForMessage(false);
+
+    // Create 10 ROIs
+    for(int i = 0; i < 10; i++) {
+        dai::SpatialLocationCalculatorConfigData config;
+        config.depthThresholds.lowerThreshold = 200;
+        config.depthThresholds.upperThreshold = 10000;
+        config.roi = dai::Rect(dai::Point2f(i*0.1, 0.45), dai::Point2f((i+1)*0.1, 0.55));
+        spatialLocationCalculator->initialConfig.addROI(config);
+    }
+
+    // Linking
+    monoLeft->out.link(stereo->left);
+    monoRight->out.link(stereo->right);
+
+    spatialLocationCalculator->passthroughDepth.link(xoutDepth->input);
+    stereo->depth.link(spatialLocationCalculator->inputDepth);
+
+    spatialLocationCalculator->out.link(xoutSpatialData->input);
+    xinSpatialCalcConfig->out.link(spatialLocationCalculator->inputConfig);
+
+    // Connect to device and start pipeline
+    dai::Device device(pipeline);
+    device.setIrLaserDotProjectorBrightness(1000);
+
+    // Output queue will be used to get the depth frames from the outputs defined above
+    auto depthQueue = device.getOutputQueue("depth", 4, false);
+    auto spatialCalcQueue = device.getOutputQueue("spatialData", 4, false);
+    auto color = cv::Scalar(0, 200, 40);
+    auto fontType = cv::FONT_HERSHEY_TRIPLEX;
+
+    while(true) {
+        auto inDepth = depthQueue->get<dai::ImgFrame>();
+
+        cv::Mat depthFrame = inDepth->getFrame();  // depthFrame values are in millimeters
+
+        cv::Mat depthFrameColor;
+        cv::normalize(depthFrame, depthFrameColor, 255, 0, cv::NORM_INF, CV_8UC1);
+        cv::equalizeHist(depthFrameColor, depthFrameColor);
+        cv::applyColorMap(depthFrameColor, depthFrameColor, cv::COLORMAP_HOT);
+
+        auto spatialData = spatialCalcQueue->get<dai::SpatialLocationCalculatorData>()->getSpatialLocations();
+        for(auto depthData : spatialData) {
+            auto roi = depthData.config.roi;
+            roi = roi.denormalize(depthFrameColor.cols, depthFrameColor.rows);
+
+            auto xmin = static_cast<int>(roi.topLeft().x);
+            auto ymin = static_cast<int>(roi.topLeft().y);
+            auto xmax = static_cast<int>(roi.bottomRight().x);
+            auto ymax = static_cast<int>(roi.bottomRight().y);
+
+            auto coords = depthData.spatialCoordinates;
+            auto distance = std::sqrt(coords.x * coords.x + coords.y * coords.y + coords.z * coords.z);
+
+            cv::rectangle(depthFrameColor, cv::Rect(cv::Point(xmin, ymin), cv::Point(xmax, ymax)), color);
+            std::stringstream depthDistance;
+            depthDistance.precision(2);
+            depthDistance << fixed << static_cast<float>(distance/1000.0f) << "m";
+            cv::putText(depthFrameColor, depthDistance.str(), cv::Point(xmin + 10, ymin + 20), fontType, 0.5, color);
+        }
+        // Show the frame
+        cv::imshow("depth", depthFrameColor);
+
+        if(cv::waitKey(1) == 'q') {
+            break;
+        }
+
+    }
+    return 0;
+}

examples/host_side/device_information.cpp

@@ -0,0 +1,33 @@
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+int main() {
+
+    std::cout << "Searching for all available devices...\n\n";
+    auto infos = dai::Device::getAllAvailableDevices();
+
+    if(infos.size() <= 0) {
+        std::cout << "Couldn't find any available devices.\n";
+        return -1;
+    }
+
+    for(auto& info : infos) {
+        std::cout << "Found device: " << info.name << " mxid: " << info.mxid << " state: " << info.state << std::endl;
+    }
+
+    // Connect to device and start pipeline
+    std::cout << "\nBooting the first available camera (" << infos[0].name << ")...\n";
+    dai::Device device(dai::Pipeline(), infos[0]);
+    std::cout << "Available camera sensors: ";
+    for(auto& sensor : device.getCameraSensorNames()) {
+        std::cout << "Socket: " << sensor.first << " - " << sensor.second << ", ";
+    }
+    std::cout << std::endl;
+
+    auto eeprom = device.readCalibration2().getEepromData();
+    std::cout << "Product name: " << eeprom.productName << ", board name: " << eeprom.boardName << std::endl;
+
+    return 0;
+}